EP1814700A1 - Dispositif pour accoupler un dispositif complementaire - Google Patents

Dispositif pour accoupler un dispositif complementaire

Info

Publication number
EP1814700A1
EP1814700A1 EP05798799A EP05798799A EP1814700A1 EP 1814700 A1 EP1814700 A1 EP 1814700A1 EP 05798799 A EP05798799 A EP 05798799A EP 05798799 A EP05798799 A EP 05798799A EP 1814700 A1 EP1814700 A1 EP 1814700A1
Authority
EP
European Patent Office
Prior art keywords
instrument
coupling
ring
quiver
magnets
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP05798799A
Other languages
German (de)
English (en)
Other versions
EP1814700B1 (fr
Inventor
Hansjörg Cueni
Heiner Scherrer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CTC Analytics AG
Original Assignee
CTC Analytics AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CTC Analytics AG filed Critical CTC Analytics AG
Publication of EP1814700A1 publication Critical patent/EP1814700A1/fr
Application granted granted Critical
Publication of EP1814700B1 publication Critical patent/EP1814700B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0401—Sample carriers, cuvettes or reaction vessels
    • G01N2035/0406—Individual bottles or tubes
    • G01N2035/041—Individual bottles or tubes lifting items out of a rack for access
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/046—General conveyor features
    • G01N2035/0465—Loading or unloading the conveyor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0474—Details of actuating means for conveyors or pipettes
    • G01N2035/0477—Magnetic

Definitions

  • the invention relates to a device for temporarily docking an instrument or tool to a transport mechanism, such as an XYZ robot of an analysis device.
  • a transport device which guides pipettes, syringes, measuring probes, etc., which are summarized for the purpose of this description under the heading "instruments”, to a multiplicity of positions. These positions are located, for example, in a large number of cuvettes for the purpose of removing or introducing samples, for measuring a reaction which has taken place, and the like, the containers or cuvettes generally being arranged in an XY matrix typically in a Z-directional head.
  • Such transport devices are often referred to as XYZ robots.
  • this is achieved by means of a coupling ring arranged laterally on the part of the transport device moving in the Z direction, with a plurality of preferably permanently concentric and permanent magnet arranged on its underside, a coupling plate located on the upper side of the respective instrument to be coupled with the same distribution arranged on the coupling ring according to opposite polarity permanent magnet, and a fixed holder for receiving the instrument when not in use.
  • Fig. 1 is a perspective view of an XYZ robot
  • Fig. 2 is an enlarged view of a holder of an additional instrument
  • Fig. 3 is a front view of the Z-head of the without housing
  • FIG. 4 is an enlarged bottom view of the Z-head an ⁇ arranged coupling ring.
  • the XYZ robot shown in a perspective view in FIG. 1 largely corresponds to a commercially available product and consists of a bridge 2 provided with supports 1, a boom 3 and a head 4.
  • the bridge defines the X-axis of the robot.
  • the boom 3 reciprocates in the X direction and also back and forth in the Y direction.
  • the arranged on the front side of the boom 3 head 4 has in the interior of a housing 5 a vertically, ie in the Z direction, up and down moving carriage 6, at its lower end in the present example, a sample delivery device 7 for as MALDI Spotting known Testver ⁇ drive is arranged.
  • the head may, of course, in a known manner depending on the use with a pipette, a syringe, an optical sensor, a stirrer, etc., i. be provided with Instru ⁇ ments of different function.
  • the present XYZ robot has a coupling device 8 and a holder 9 for an additional instrument 10.
  • Coupling device 8 and holder 9 for an additional instrument 10 are shown enlarged in FIGS. 2-4.
  • the Kopplungsvorrich ⁇ device consists of an arm 11 which is fixedly connected at one end to the carriage 6 and extends through a slot 12 in the housing 5 to the outside. Outside the housing, a partially open coupling ring 13 is formed with an opening 14 at its front end at the other end of the arm 11.
  • On the underside 15 of the Kopp ⁇ ment ring six permanent magnets 16 are arranged at uniform angular intervals. There are designated this cylindrical Mag ⁇ , which are inserted into corresponding depressions and their end faces are flush with the underside of the rings Kopplungs ⁇ . The magnets are used that way their polarity at the bottom of the coupling ring alternch selt.
  • the additional instrument 10 in the present case is a device for storing individual drops of a reagent on a MALDI plate.
  • the additional instrument may be a pipette, a syringe, a probe, etc., or else a mechanical tool.
  • the instrument has at its upper end a coupling plate 17, in the surface 18 of which six permanent magnets 19 are arranged. Similar to the coupling ring 13, they are cylindrical magnets, which are inserted flush with the surface 18 into corresponding recesses and indeed also with alternating pole.
  • the coupling plate can be provided with a central bore 20 for the passage of a feed line or the like, and then also has the shape of a ring.
  • the number of six magnets in the described device is only one of several possibilities. It can also be provided less or more magnets, which may be the same polarity. If, however, alternating polarity is provided to achieve self-centering, an even number of magnets is advantageous.
  • the arrangement of the magnets is selected so that in the ge ⁇ desired position of the instrument each attraction zwi ⁇ rule the magnets of the coupling ring and those of the lung Kopp- prevails plate. Any deviation of the angular position or the lateral position of the instrument relative to the head would solution to a decrease in the attracting each other ge ⁇ genüberelleder magnets and a reinforcement of the lead repulsion between adjacent magnets, so that This results in a self-centering effect.
  • the precision of this self-centering is of the order of magnitude of 0.1 mm.
  • the holder 9 consists of a substantially L-shaped carrier 21 arranged on the underside of the bridge and a quiver 22 arranged on the latter, in which the instrument 10 is in its disuse is parked.
  • the quiver consists of a tube 23 whose upper edge 24 is provided with a shoulder 25.
  • the instrument 10 has at the height corresponding to the edge 24 a partially umlau ⁇ fenden flange 26, whose front ends stop surfaces 21 which abut the shoulder 25 when the instrument is in the quiver.
  • Paragraph 25 and Note 26 serve the
  • the docking and docking of the instrument is controlled by the software of the robot, which is supplemented accordingly for this purpose.
  • the head moves to the instru ⁇ ment that the coupling ring is coaxial with the Koppel ⁇ plate.
  • the carriage In this XY position, the carriage is lowered with the coupling ring.
  • the instrument is raised by the magnetic attraction and kept in a precise position by the self-centering. Now the additional functions provided with the instrument can be performed.
  • the XYZ control takes into account the difference in coordinates between the sample delivery and the pipette tip.
  • the head moves to the quiver, that the instrument is coaxial above this.
  • the instrument is completely moved to its parking position, in which its angular position is determined.
  • the head moves laterally, ie away in the X direction, to separate the coupling ring from the coupling plate.
  • a plurality of quivers can be arranged next to one another on the holder, from which the respectively required instrument can be coupled to the head as required and to where it is returned after use.

Landscapes

  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Chemical & Material Sciences (AREA)
  • Biochemistry (AREA)
  • Analytical Chemistry (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Engineering & Computer Science (AREA)
  • Automatic Analysis And Handling Materials Therefor (AREA)
  • Coupling Device And Connection With Printed Circuit (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Agricultural Machines (AREA)

Abstract

L'invention concerne l'accouplement temporaire d'un instrument (10) ou d'un outil à un mécanisme de transport au moyen d'un anneau d'accouplement (13) disposé latéralement sur une pièce mobile se déplaçant en Z du dispositif de transport, cet anneau comportant plusieurs aimants permanents (16) disposés sur sa face inférieure de préférence de manière concentrique avec décalage angulaire. L'anneau d'accouplement coopère avec une plaque d'accouplement (17) montée sur la face supérieure de l'instrument à accoupler, cette plaque d'accouplement étant pourvue d'aimants permanents (19) de pôle opposé répartis de façon correspondante.
EP05798799A 2004-11-08 2005-11-07 Dispositif pour accoupler un dispositif complementaire Not-in-force EP1814700B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH18342004 2004-11-08
PCT/CH2005/000653 WO2006047904A1 (fr) 2004-11-08 2005-11-07 Dispositif pour accoupler un dispositif complementaire

Publications (2)

Publication Number Publication Date
EP1814700A1 true EP1814700A1 (fr) 2007-08-08
EP1814700B1 EP1814700B1 (fr) 2008-05-21

Family

ID=35520971

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05798799A Not-in-force EP1814700B1 (fr) 2004-11-08 2005-11-07 Dispositif pour accoupler un dispositif complementaire

Country Status (7)

Country Link
US (1) US20090206970A1 (fr)
EP (1) EP1814700B1 (fr)
JP (1) JP2008518796A (fr)
AT (1) ATE396017T1 (fr)
CA (1) CA2597721A1 (fr)
DE (1) DE502005004222D1 (fr)
WO (1) WO2006047904A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT9744U3 (de) * 2007-10-17 2008-11-15 Perndorfer Maschb Kg Vorrichtung zum manipulieren eines werkzeuges
WO2014197889A1 (fr) * 2013-06-07 2014-12-11 The Johns Hopkins University Dispositif de connexion rapide anti-rotation

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5222271A (en) * 1975-08-14 1977-02-19 Toshiba Corp Automatic hand-exchange apparatus for industrial robot
US4700655A (en) * 1986-08-26 1987-10-20 Daniel Kirby Sign support structure
JPS6440287A (en) * 1987-08-07 1989-02-10 Canon Kk Finger fitting system
DE4227848B4 (de) * 1991-11-28 2009-05-07 Robert Bosch Gmbh Bauteilträger und Verfahren zum Halten eines aus einem ferromagnetischen Werkstoff ausgebildeten Bauteils
SE9601804L (sv) * 1996-05-09 1997-04-14 Christer Koernbaeck Flaggfäste för fordon
ITAN960024A1 (it) * 1996-06-27 1997-12-29 Prisma Di Tarulli Dario Supporto magnetico universale per sostenere un telefono cellulare
US5682817A (en) * 1996-07-01 1997-11-04 Sony Corporation Quick removing compact disc printing nest
DE19938114A1 (de) * 1999-08-12 2001-02-22 Duerr Systems Gmbh Maschine mit einem lösbar befestigten Werkzeug
US6929232B1 (en) * 2001-07-10 2005-08-16 Noveletti, Llc Magnetic soap holder
JP4387858B2 (ja) * 2004-04-14 2009-12-24 キヤノン株式会社 ステッピングモータ
CN100363629C (zh) * 2004-08-27 2008-01-23 鸿富锦精密工业（深圳）有限公司 薄型风扇
US8505861B2 (en) * 2007-10-26 2013-08-13 Jeffrey D. Carnevali Suction cup mounting platform having flexible base

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2006047904A1 *

Also Published As

Publication number Publication date
US20090206970A1 (en) 2009-08-20
WO2006047904A1 (fr) 2006-05-11
DE502005004222D1 (de) 2008-07-03
ATE396017T1 (de) 2008-06-15
CA2597721A1 (fr) 2006-05-11
JP2008518796A (ja) 2008-06-05
EP1814700B1 (fr) 2008-05-21

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